minor bug fix in misc.ss.planTrajectory.m

+misc/+ss/planTrajectory.m

@@ -47,7 +47,6 @@ if optArgs.method == "Bernstein"
 end
 
 %W2 = expm( sys.A * (t.Discrete - t1 ) ) * cumInt( invPhi_t1 * sys.B * sys.B' * invPhi_t1', t, t0, t.name);
-%% Chen^3
 if optArgs.method == "Chen3"
 	Phi_t_t0 = expm(sys.A * ( t.Symbolic - t.lower ));
 	Phi_t1_t = expm(sys.A * (t.upper - t.Symbolic ) );
@@ -57,10 +56,7 @@ if optArgs.method == "Chen3"
 	Wt0t1 = Wt0t.at(t.upper);
 	u = - sys.B' * Phi_t1_t' / Wt0t1 * ( Phi_t_t0.at(t.upper) * x0 - x1 ) * optArgs.weight;
 	x = Phi_t_t0 * x0 - Phi_t_t1 * Wt0t / Wt0t1 * ( Phi_t_t0.at(t.upper) * x0 - x1 );
-end
-
-%% Chen^1
-if optArgs.method == "Chen1"
+elseif optArgs.method == "Chen1"
 	%% compute the gramian controllability matrix
 	Phi_t_t0 = expm(sys.A * ( t.Symbolic - t.lower ));
 	Phi_t0_t = expm(sys.A * ( t.lower - t.Symbolic)); % = inv( Phi_t_t0 )